#include <ros/ros.h>
#include <geometry_msgs/Twist.h>

int main(int argc, char *argv[])
{
    ros::init(argc, argv, "vel_node");
    ros::NodeHandle handle;
    ros::Publisher vel = handle.advertise<geometry_msgs::Twist>("/cmd_vel", 10);
    ros::Rate rate(30);

    while(ros::ok())
    {
        geometry_msgs::Twist msg;
        msg.linear.x = 0.5;
        msg.linear.y = 0;
        msg.linear.z = 0;
        msg.angular.x = 0;
        msg.angular.y = 0;
        msg.angular.z = 0.5;

        vel.publish(msg);
        rate.sleep();
    }

    return 0;
}